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An early iteration of Starfleet was founded in the early 21st century as part of the United Nations, working alongside NASA to promote science and spaceflight. At this juncture Starfleet did not actually control any space vehicles. Sean Christopher was an early trainer there. It is not known whether this Starfleet grew into the United Earth Starfleet, or merely provided the inspiration for it. (ST performance: Star Trek Live)

In 2151, Starfleet launched Enterprise NX-01 its first Warp Five vessel, followed in 2153 by Columbia NX-02. These two ships were largely responsible for establishing United Earth as a legitimate interstellar power and paving the way for the founding of the Federation.

Unlike its future incarnation, the Earth Starfleet was not a military organization, but rather was purely scientific and exploratory in its mission. MACOs fulfilled any military functions needed aboard Earth Starfleet vessels. (ENTepisode: "The Expanse")

The serial novel Starfleet: Year One used the name Earth Command to identify the controlling authority of Earth's defensive forces during the Earth-Romulan War. As it was written prior to the debut of Star Trek: Enterprise, much of what it establishes about pre-Federation Earth has been contradicted.